CN111573126A - Modular intelligent logistics system material distribution path planning method based on omnidirectional wheel - Google Patents

Modular intelligent logistics system material distribution path planning method based on omnidirectional wheel Download PDF

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Publication number
CN111573126A
CN111573126A CN202010391988.4A CN202010391988A CN111573126A CN 111573126 A CN111573126 A CN 111573126A CN 202010391988 A CN202010391988 A CN 202010391988A CN 111573126 A CN111573126 A CN 111573126A
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intelligent logistics
path
module
planning
conveying
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Inventor
肖海宁
李珲
武星
王龙军
石陈陈
周临震
陈博炜
张震宇
徐成
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Yancheng Institute of Technology
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Yancheng Institute of Technology
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Priority to CN202010391988.4A priority Critical patent/CN111573126A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00Roller-ways
    • B65G13/02Roller-ways having driven rollers
    • B65G13/06Roller driving means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • B07C5/3412Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/64Switching conveyors
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G06Q10/083Shipping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/041Camera

Abstract

The invention discloses a material distribution path planning method of a modular intelligent logistics system based on omnidirectional wheels, which comprises the following steps: s1, collecting the system state, and immediately turning to the step2 once the following two events are collected, and starting a system material conveying path planning process; s2, preprocessing material conveying data, determining starting points, end points and material conveying flow rates of all material conveying, determining the planning sequence of each material conveying path, generating a material conveying path planning sequence table after determining the sequence, planning the conveying paths for each material according to the sequence, and turning to the step S3 after finishing the step; s3, continuing to plan a distribution path for the next material according to the planning sequence table, and turning to the step S4 after a distribution path is planned for each material; s4, checking whether the material distribution path planning sequence list is empty, if not, turning to the step S3, continuing to plan the distribution path for the next material, if so, turning to the step S1.

Description

Modular intelligent logistics system material distribution path planning method based on omnidirectional wheel
Technical Field
The invention relates to the field of automatic material conveying and sorting, in particular to a method for planning a material distribution path of a modular intelligent logistics system based on an omnidirectional wheel.
Background
The market competition of the current products is intense, and the logistics as the third profit source of enterprises becomes the new focus of the market competition. The production logistics, which is an important component of enterprise logistics, directly affects the production cost and delivery date of products, has become a key factor for improving the competitiveness of enterprises, and is receiving increasing attention. However, existing material handling and sorting systems are based on belt or chain conveyor technology. Its development faces the following problems:
(1) the flexibility is insufficient, the conveying direction of each material conveying line is single, and different conveying directions cannot be set according to the material types; (2) the functions of sorting, converging, forming and the like can be realized only by matching with a mechanical arm and the like;
(3) the robustness is poor, and the failure of a single conveying node can cause the breakdown of the whole logistics conveying system; these problems are in sharp conflict with the trend of high efficiency and flexibility of modern logistics.
(4) The material distribution path algorithm directly affects the efficiency and the intelligence level of the system. Although the classical path planning algorithm (e.g., Dijkstra algorithm, Floyd algorithm, a-x algorithm, etc.) can implement the function of path planning, the algorithm has a single optimization target, and generally aims at minimizing the path or minimizing the path time. If the method is directly used for the logistics system, unbalance of material conveying loads of the intelligent logistics modules is easily caused, the risk of local material blockage is increased, system deadlock caused by opposite conflict of material conveying paths is not considered, and the overall efficiency and the intelligent level of the logistics system are reduced.
Disclosure of Invention
Aiming at the technical problem, the invention provides a modularized intelligent logistics system based on an omnidirectional wheel. This logistics system not only can realize functions such as the transport of material, letter sorting, confluence, formation, better self-reconfiguration nature moreover, when single intelligent logistics module broke down, logistics system can guarantee the unobstructed of material delivery through the replanning of delivery route, improves the flexibility and the robustness of delivery route to realize logistics system's intellectuality.
Meanwhile, the invention discloses a material distribution path planning method of a modular intelligent logistics system based on omnidirectional wheels, aiming at the functional requirements of material conveying, sorting and converging of the logistics system. The method adopts two types of events to start the planning process of the material conveying path of the system, so that not only can all material distribution paths of the system be adjusted in time according to newly added materials, but also the efficiency of the system is ensured; and when some intelligent logistics modules have faults, all material distribution paths of the system can be optimized in time, so that system paralysis caused by the faults of some intelligent logistics modules is avoided, and the robustness of the system is ensured. Secondly, before planning a path for each material, the method adjusts the first-order adjacency matrix of the intelligent logistics module according to the planned path library, avoids the opposite conflict between the newly planned path material and the planned path material, and can avoid the deadlock of the system. In addition, the improved Dijkstra algorithm is adopted to plan a path for the new material, the conveying flow and the material conveying time of each material intelligent logistics module are comprehensively considered, the conveying load of each intelligent logistics module can be balanced, local congestion of the system is avoided, and therefore the overall efficiency and the intelligent level of the logistics system are improved.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a material distribution path planning method of a modularized intelligent logistics system based on an omnidirectional wheel is characterized in that the modularized intelligent logistics system is a conveying plane formed by combining a plurality of intelligent logistics modules, and the conveying, sorting and confluence of materials are realized through the relay of the intelligent logistics modules, and the method comprises the following steps:
s1, collecting the system state, and immediately turning to the step2 once the following two events are collected, starting the planning process of the system material conveying path:
event 1. there is a new material delivery requirement: the new material conveying requirement flow is high, and in order to ensure the overall efficiency of a material system, a material conveying path needs to be re-planned;
event 2, some intelligent logistics modules fail: some intelligent logistics modules are failed, so that some material distribution paths are invalid, and in order to ensure the robustness of the system, the material conveying paths need to be re-planned;
s2, preprocessing of material conveying data:
determining the starting point, the end point and the material distribution flow of all material distribution, determining the planning sequence of each material distribution path, generating a material distribution path planning sequence table after determining the sequence, planning the distribution path for each material according to the sequence, and turning to the step S3 after finishing the operation;
s3, continuing to plan a distribution path for the next material according to the planning sequence table, and turning to the step S4 after a distribution path is planned for each material;
the steps of planning the distribution path are as follows:
s3.1, preprocessing of a logistics system:
coding each intelligent logistics module to obtain a first-order adjacency matrix thereof;
s3.2, processing the information of the planned path library of the material;
counting the conveying flow of each material intelligent logistics module according to the planned path library of the materials, updating the allowed conveying direction of each material intelligent logistics module, and updating the adjacency matrix;
s3.3, planning a balanced anti-deadlock material distribution path;
planning a delivery path for the material by adopting an improved Dijkstra algorithm;
s4, checking whether the material distribution path planning sequence list is empty, if not, turning to the step S3, continuing to plan the distribution path for the next material, if so, turning to the step S1.
In step S2, the method for determining the sequence of the material distribution route planning includes:
according to the magnitude sequence of the distribution flow of each material or according to the material value and the importance degree.
Step S3.1 is specifically:
coding each intelligent logistics module according to a certain sequence, determining the adjacent relation of the intelligent logistics modules according to the material conveying direction which can be realized by each intelligent logistics module and whether each intelligent logistics module is in fault, wherein the adjacent relation among the intelligent logistics modules is determined by a first-order adjacent matrixAnd the orientation matrix D ═ Dij]K×KWhere i and j each represent the number of intelligent logistics modules, K is the number of intelligent logistics modules in the system,represents the transit time from the intelligent logistics module i to the intelligent logistics module j. dijIndicating the azimuth angles of the intelligent logistics module i and the intelligent logistics module j;
assuming that each intelligent logistics module can convey materials to 8 directions, thenThe values of (A) are as follows:
in the formula, T is the average material conveying time of adjacent intelligent logistics modules;
dijthe values of (A) are as follows:
step S3.2 is specifically:
counting the conveying flow of each intelligent material logistics module according to the planned path library of the materials to form an existing flow matrix of the intelligent material logistics modules, wherein F is (F (i)]1×KWherein, f (i) is the existing material distribution flow of the ith intelligent logistics module, and K is the total number of the intelligent logistics modules in the system;
the planned material paths are stored in the material planned path library, and the number of materials of all the planned paths is assumed to be NP(ii) a The k-th material distribution path is defined as: the number of the intelligent logistics module, through which the material passes from the starting point to the end point, can be expressed asWherein the content of the first and second substances,
the serial number of the mth intelligent logistics module in the kth material distribution path,
Nkcounting the existing material conveying load of each intelligent logistics module for the total number of the intelligent logistics modules in the kth material distribution path according to the following steps, and determining a material intelligent logistics module flow matrix F ═ F (i)]1×KFlow information is provided for planning a material conveying path by applying Dijkstra algorithm subsequently;
and updating the allowed conveying direction of each material intelligent logistics module according to the planned material path library, and updating the first-order adjacency matrix to avoid the opposite conflict between the subsequently planned material distribution path and the planned material path.
The improved Dijkstra algorithm in step S3.3 specifically comprises the following steps:
s3.3.1 initializing, inputting the path of material to be plannedThe method comprises the steps that an initial intelligent logistics module and a target intelligent logistics module are set, assuming that the initial intelligent logistics module is s and the target intelligent logistics module is d, and an intelligent logistics module set V is setS(s) and a set of intelligent logistics modules VDI ∈ V and i ≠ s and the optimal path matrix P ═ Psi]1×KAnd the sum cost matrix H ═ Hi]1×KWherein V isSFor the set of intelligent logistics modules, V, for which an optimal path to the starting intelligent logistics module s has been searchedDFor the set of intelligent logistics modules which have not searched the optimal path with the initial intelligent logistics module s, V is the set of all intelligent logistics modules in the system, P is the optimal path matrix between all intelligent logistics modules and the initial intelligent logistics module s, and PsiThe optimal path from the intelligent logistics module s to the intelligent logistics module i is started, and the optimal path is not searchedOnly p at initializationss(s), the rest areH is the cost matrix of all intelligent logistics modules, HiFor the cost of the intelligent logistics module i, the calculation method is as follows:
s3.3.2, search VDThe intelligent logistics module with the minimum cost is not set as the intelligent logistics module k, and the minimum cost isThe intelligent logistics module k is driven from VDMove into VSIn, i.e. VS=VS∪{k},VD=VD/{ k }, and sets psk={s,k},Ensuring that the paths are all unidirectional, turn S3.3.3;
s3.3.3, update VDThe cost, the optimal path and the first-order adjacency matrix of each intelligent logistics module are updated as follows for VDN, its new cost hnComprises the following steps:
optimal path psnAlso according to tnAnd synchronously updating, wherein the updating method comprises the following steps:
turning to S3.3.4;
s3.3.4, judging newly added VSIf the intelligent logistics module k in the network is the target intelligent logistics module, if k is d, the optimal path is searched, and the operation is switched to S3.3.5, otherwise, the operation is switched to S3.3.2;
s3.3.5, outputting the optimal path psdAnd updating the materials to a material planned path library, and deleting the materials from the material distribution path planning sequence table.
Each intelligent logistics module comprises:
fixed frame, fixed frame is last to be opened there are a plurality of holes, is equipped with an all-round speed reduction drive wheel in every hole, and the partial wheel body of all-round speed reduction drive wheel stretches out fixed frame's upper surface sets up, and the frictional force through a plurality of all-round speed reduction drive wheel upper wheel body acts on the material jointly, realizes following purpose to the material through the cooperative control to a plurality of drive wheel rotation rates and direction:
firstly, driving the material to rotate to adjust the posture;
secondly, independently and directionally conveying the materials to a plurality of directions according to the requirement;
thirdly, relay transmission of the intelligent logistics modules is achieved through planning of material distribution paths;
the Internet of things data acquisition device is arranged on the intelligent logistics module and is used for judging whether materials and material types exist above the intelligent logistics module;
when no material exists above the intelligent logistics modules, each intelligent logistics module enters a low power consumption mode;
when there is the material above the intelligence commodity circulation module, according to the material kind to each required direction conveying material.
The fixing frame includes:
a base plate;
the panel, through the bracing piece with the bottom plate supports and is connected, and it has a plurality of holes to open on the panel, and some of a plurality of all-round speed reduction drive wheels are all passed through the hole passes the panel to contact with the material.
The data acquisition device of the internet of things is one or more of an RFID card reader, a proximity switch, a two-dimensional code/bar code card reader and a camera.
On single intelligent logistics module the quantity of all-round speed reduction drive wheel be 4, 4 all-round speed reduction drive wheel winds the central symmetry setting of panel.
The all-round speed reduction drive wheel includes:
the motor, the mounting plate and the omnibearing speed reduction driving wheel;
the motor is connected with the input end of the omnibearing speed reduction driving wheel and drives the omnibearing speed reduction driving wheel to rotate;
the mounting panel adopts but not limited to L type mounting panel, L type mounting panel one end with bottom plate fixed connection, the other end and the first casing fixed connection of all-round speed reduction drive wheel.
Has the advantages that:
(1) according to the invention, the planning process of the material conveying path of the system is started by two types of events, so that not only can all material distribution paths of the system be adjusted in time according to newly added materials, but also the system efficiency is ensured; and when some intelligent logistics modules have faults, all material distribution paths of the system can be optimized in time, so that system paralysis caused by the faults of some intelligent logistics modules is avoided, and the robustness of the system is ensured.
(2) According to the method, before the path is planned for each material, the first-order adjacency matrix of the intelligent logistics module is adjusted according to the planned path library, so that the materials of a new planned path and the materials of the planned path are prevented from conflicting in opposite directions, and the deadlock of the system can be avoided.
(3) The improved Dijkstra algorithm is adopted to plan a path for the new material, the conveying flow and the material conveying time of each material intelligent logistics module are comprehensively considered, the conveying load of each intelligent logistics module can be balanced, the local congestion of the system is avoided, and the system efficiency can be improved.
Drawings
FIG. 1 is a schematic diagram of an omnidirectional wheel-based modular intelligent logistics system;
wherein, 1, a schematic diagram of materials to be conveyed; 2. an intelligent logistics module based on an omnidirectional wheel;
FIG. 2 shows three arrangements of the omni-directional wheel on the panel according to the present invention;
wherein a is arranged in the center; b is an eccentric arrangement; c is a diagonal arrangement;
FIG. 3 is a schematic diagram of an exemplary structure of an intelligent logistics module based on an omnidirectional wheel;
2-1, manufacturing an Internet of things data acquisition device; 2-2, driving wheels with all-directional speed reduction; 2-3, a panel; 2-4, a bottom plate; 2-5, supporting rods;
FIG. 4 is a schematic view of an omni-directional deceleration driving wheel;
2-2-1, driving a motor; 2-2-2, an omnidirectional wheel; 2-2-3, mounting a plate; 2-2-4, a transmission device;
FIG. 5 is a control flow of the intelligent logistics module of the present invention;
FIG. 6 is a schematic diagram of 8 conveying directions and a material rotation structure according to an embodiment of the present invention;
FIG. 7 is a schematic view showing the start, stop and rotation directions of four omni-directional deceleration driving wheels corresponding to each material conveying direction according to the present invention;
FIG. 8 is a schematic view of the direction and speed of rotation and the material transfer speed and direction of four driving wheels according to the present invention;
FIG. 9 is a schematic view showing the rotation direction and speed of four driving wheels and the rotation speed and direction of the material;
FIG. 10 is a flow chart of the control of the modular intelligent logistics system of the present invention;
FIG. 11 is a schematic diagram of an intelligent logistics module adjacency modeling and material transport path of the present invention;
FIG. 12 is a schematic view of an industrial field environment of the present invention;
FIG. 13 is a diagram of the planning and design steps of the present invention;
FIG. 14 is a schematic view of the environment after puffing of the non-deployment area;
FIG. 15 is a schematic view of an environment after X-direction and Y-direction scanning;
FIG. 16 is a schematic view of the environment after completion of the intelligent logistics module arrangement;
FIG. 17 is a schematic diagram of intelligent logistics module adjacency modeling;
FIG. 18 illustrates a step of planning a material transport path according to the present invention;
fig. 19 is a schematic diagram of two material dispensing paths conflicting with each other.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings and the specific embodiments in the specification.
As shown in fig. 1, the system is composed of a plurality of intelligent logistics modules based on omnidirectional wheels, which are hereinafter referred to as intelligent logistics modules, and a typical structure schematic diagram is shown in fig. 2, each intelligent logistics module is provided with a plurality of power assemblies, so that the system not only can drive materials to rotate to adjust postures, but also can independently and directionally convey the materials to a plurality of directions as required, and the functions of conveying, sorting, converging and the like of the materials are realized through the relay of the plurality of intelligent logistics modules.
Fig. 2 is a schematic diagram showing a typical structure of an intelligent logistics module, wherein the intelligent logistics module is provided with four omnidirectional wheel driving assemblies 2-2, and the four omnidirectional wheel driving assemblies have various optional layout schemes, as shown in fig. 2a, 2b and 2 c.
As shown in fig. 3, four omnibearing speed reducing driving wheels 2-2 are fixed on a bottom plate 2-4, the bottom plate 2-4 is fixed with a panel 2-3 through a supporting rod 2-5, the panel 2-3 is provided with four holes, a part of the four omnibearing speed reducing driving wheels 2-2 penetrates through the holes of the panel to be contacted with materials, the four omnibearing speed reducing driving wheels jointly act on the materials through friction force, the materials can be directionally conveyed to a plurality of selectable directions through the cooperative control of the rotating speed and the direction of the four driving wheels, and the conveying direction of the materials is jointly controlled by the four driving wheels.
As shown in fig. 3, the smart logistics module can arrange a plurality of manufactured internet of things data acquisition devices 2-1, and the specific form of the data acquisition device 2-1 can include, but is not limited to, one or more of an RFID reader, a proximity switch, a two-dimensional code/bar code reader, and a camera.
If the machine vision technology is adopted to distinguish the types of the materials according to the shapes of the materials, the data acquisition device of the Internet of things is a camera.
If the radio frequency technology is adopted to distinguish the material types, the data acquisition device of the internet of things is an RFID card reader, and corresponding radio frequency cards are arranged on the materials according to the material types.
If the two-dimension code identification technology is adopted to distinguish the material types, the data acquisition device of the Internet of things is a two-dimension code/bar code card reader, and corresponding two-dimension codes/bar codes are arranged on the materials according to the material types.
If the material type does not need to be distinguished, only the material is needed to be identified above the intelligent logistics module, and the data acquisition device of the Internet of things is a proximity switch.
If the material types need to be identified by fusing the technologies or whether materials exist above the intelligent logistics module is judged, the data acquisition device of the internet of things is a combination of the sensors.
The installation position of the sensor can be installed in the idle area of the intelligent logistics module on the premise of not interfering material conveying and operation of the intelligent logistics module according to the overall dimension, effective identification range and other parameters of the selected sensor.
The omnibearing speed reduction driving wheel in the invention is the prior art, and particularly, the patent CN106364259B can be referred. The power of the component is provided by a motor 2-2-1, an omnibearing speed reduction driving wheel 2-2-2 is driven to rotate through a transmission device, and the transmission device is fixedly connected with a mounting plate 2-2-3. The vehicle body can simultaneously translate and rotate in any direction in a two-dimensional plane, and has the capability of moving in any direction under the condition of not changing the posture of the vehicle body.
The data collected by the data collection device 2-1 can realize two functions:
(1) whether materials exist above the intelligent logistics module or not is automatically judged,
(2) the material type can be identified independently.
By utilizing the function (1), the four driving wheel assemblies only start to operate or operate at high speed when the intelligent logistics module detects materials, and the conveying and sorting intelligent logistics module can enter a low-power-consumption state when the materials are not detected, namely the four driving wheel assemblies do not operate or operate at low speed, so that the energy consumption is reduced;
by utilizing the function (2), the intelligent logistics module can convey materials to different directions according to different types of the materials, so that the functions of sorting the materials, converging and the like are realized.
The disclosed technical scheme further comprises a set of intelligent logistics module control method based on omnidirectional wheels, the control flow is shown in fig. 5, and the specific steps are as follows:
and Step1, when no material exists on the intelligent logistics module, the intelligent logistics module operates in a low-power-consumption mode, material data above the intelligent logistics module are collected through the internet of things data collection device at any time, and when the material data are collected, the Step2 is carried out.
And Step2, judging the material types according to the collected material data, judging the material conveying direction by inquiring each material conveying direction table of the intelligent logistics module, and turning to Step 3.
And Step3, the material is conveyed in the designated direction by using the material conveying control method, and the material is turned to Step1 after leaving the intelligent material flow module.
The disclosed technical scheme further comprises a set of intelligent logistics module material conveying direction control method, taking the intelligent logistics module arranged in the center as shown in fig. 2a as an example, in order to enable the intelligent logistics module based on the omnidirectional wheel to have the capability of conveying materials to multiple directions, four driving wheel assemblies 2-2 must be cooperatively controlled, and the conveying direction of the materials is determined by the type of the motor 2-2-1 adopted by the omnidirectional deceleration driving wheel 2-2.
(a) Material conveying direction control method when non-servo motor is adopted by omnibearing speed reduction driving wheel 2-2
If the type of the motor 2-2-1 adopted by the omnibearing speed reduction driving wheel 2-2 is a non-servo motor, the material can be conveyed or the rotation of the material can be driven in 8 directions, namely, upward right, downward left and upward left, by controlling the starting, stopping and rotating directions of the four driving wheels, as shown in fig. 6, the starting, stopping and rotating directions of the four omnibearing speed reduction driving wheels corresponding to the conveying directions of the material are as shown in fig. 7, and the rotating direction of the omnibearing wheel marked in the figure is the direction of the linear velocity contact point of the omnibearing wheel and the material.
(b) Material conveying direction control method when servo motor is adopted by omnibearing speed reduction driving wheel 2-2
If the type of the motor 2-2-1 adopted by the omnidirectional moving wheel assembly 2-2 is a servo motor, the material can be conveyed in any direction or the material can be driven to rotate by controlling the rotating directions and speeds of the four driving wheels, the relationship diagram of the speed and direction of each omnidirectional wheel and the conveying speed and direction of the material is shown in fig. 8, and the relationship diagram of the speed and direction of each omnidirectional wheel and the rotating speed and direction of the material is shown in fig. 9 as follows.
As shown in fig. 8, the required moving speed of the material is V; the included angle between the material moving direction and the horizontal direction is phi, and the range is 0-360 degrees; d is the distance from the center of the omnidirectional wheel to the center of the intelligent logistics module; linear velocity V of contact point of four omnidirectional wheels and material1、V2、V3And V4Comprises the following steps:
if the calculated value of a component of equation (1) is negative, it indicates that the direction is opposite to the direction specified in fig. 7. Assuming that the radius of the omnidirectional wheel is R; the omnibearing wheel drives the reduction ratio of the intelligent logistics module transmission system; then the angular velocities ω of the four motors1、ω2、ω3And ω4Comprises the following steps:
as shown in fig. 9, the rotational angular velocity of the material is ω, clockwise is positive, and counterclockwise is negative; then the angular velocities ω of the four motors1、ω2、ω3And ω4Comprises the following steps:
a control method of a modular intelligent logistics system based on omnidirectional wheels comprises the following steps:
the modularized intelligent logistics system based on the omnidirectional wheel is composed of a plurality of intelligent logistics modules, the disclosed modularized intelligent logistics system control method based on the omnidirectional wheel can realize the functions of conveying, sorting and converging materials, and the control flow of the modularized intelligent logistics system is shown in figure 10.
The method comprises the following specific steps:
and Step1, monitoring the states of the intelligent logistics modules in the system, and entering Step2 if a certain intelligent logistics module fails or the system is initialized.
And Step2, modeling the adjacency relation of the intelligent logistics modules of the modular intelligent logistics system.
Numbering all intelligent logistics modules in the system, and determining a first-order adjacency matrix among the intelligent logistics modules according to the numbersOrientation matrix D ═ Dij]N×NWherein i and j both represent the number of the intelligent logistics modules, N is the total number of the intelligent logistics modules in the system,represents the shortest distance from the intelligent logistics module i to the intelligent logistics module j. dijIndicating the azimuth angle from intelligent logistics module i to intelligent logistics module j.
The values of (A) are as follows:
l is the length of side of intelligent logistics module in the formula.
dijThe values of (A) are as follows:
with the system shown in fig. 11, the first order adjacency matrix and the orientation matrix are:
after completion, Step3 is entered.
Step3 planning various material conveying, sorting and merging paths
No matter the materials are conveyed, sorted or combined, the material conveying device corresponds to the starting point and the end point of various materials. The only difference is that the starting or ending point characteristics of each material are different. For example, in an application that implements material sorting, all materials start at the same point but end at different points. In the application of realizing material confluence, the starting points of the materials are different, but the end points of the materials are the same. Therefore, the functions can be realized by only planning the reachable path from the starting point to the end point for all materials, and the planning algorithm can adopt the classic Dijkstra algorithm and use a first-order adjacency matrixThe optimization performance can select one or more of the minimized conveying distance, the minimized conveying time and the minimized conveying path turning times according to specific requirements. In some applications, it is also necessary to avoid different material transportation during planningThe transmission paths have a collision in opposite directions as shown in fig. 19, and after completion, the process goes to Step 4.
Such as: the layout of a certain modularized intelligent logistics system based on omnidirectional wheels is shown in fig. 9, a distribution path needs to be planned for four materials, the starting point and the end point of the four materials are shown in table 1, the minimum conveying path is taken as a target, and the path planned by applying the Dijkstra algorithm is shown in table 1.
TABLE 1 starting point, end point and planned route of materials
And Step4, determining the transmission direction of each material of all the intelligent logistics modules according to the planned path of each material, storing the result into all material transmission direction tables of all the intelligent logistics modules, judging the material transmission direction of each intelligent logistics module according to the collected material type data, and returning to Step1 after the judgment is finished.
The material transfer directions of the intelligent logistics modules determined by the material planning paths shown in table 1 are shown in table 2.
TABLE 2 materials transfer directions of the intelligent logistics modules determined by the material planning paths as shown in TABLE 1
The planning and design problem of the logistics system is as follows:
because the whole logistics system is composed of a plurality of intelligent logistics modules, for the planning and design of the whole logistics system, according to the system industrial field environment, some areas in the industrial field environment are occupied by walls, equipment, passageways and the like, and intelligent logistics modules are not required to be arranged, the areas can be collectively called as non-arrangement areas, and the schematic diagram is shown in fig. 12.
Planning and designing:
aiming at the logistics system planning and design problem, the planning steps provided by the invention are shown in fig. 13, and mainly comprise the steps of expanding processing in a non-layout area, determining scanning intervals, scanning in the X direction and the Y direction, counting the number of intelligent logistics modules, coding the intelligent logistics modules and the like, and are specifically as follows.
(1) Bulking of borders and non-layout areas
The non-layout area is the area that can't arrange intelligent logistics module for obstacle, equipment, artifical passageway etc. in order to avoid intelligent logistics module to cross non-layout area or environment boundary, at first to non-layout area and boundary carry out popped processing, popped size P is half of intelligent logistics module length of side L, popped step as follows: extracting boundary lines of the environment and the non-layout area, taking a linear boundary line as an example, assuming that the boundary line equation is Ax + By which is equal to C, and the boundary line equation after expansion is CThe industrial field environment shown in fig. 5, the schematic diagram of the environment after bulking the non-deployment area is shown in fig. 14.
(2) X-and Y-direction scanning
The invention provides a heuristic method for improving the coverage rate of an intelligent logistics module in the environment, wherein the interval is the side length L of the intelligent logistics module, the expanded environment is scanned to generate a grid, the appropriate offset optimization is carried out on the scanning starting point of a grid line, and the scanning steps are as follows by taking the X direction as an example:
step1, initialization, setting N tentative grid scanning starting points:
step2 scanning the next grid:
step3, judge whether reach the boundary XUPPER
Step4, determining the optimal grid lines:
the optimal grid line in the X direction is
Fig. 15 shows a schematic diagram of fig. 14 after X-direction and Y-direction scanning is performed by applying the above steps.
(3) The intelligent logistics module is arranged:
as shown in fig. 15, the intersection point of the scanning lines in the graph is the central point of each intelligent logistics module, so that the number of the central points in the graph is the number of the intelligent logistics modules required by the system, and the schematic diagram after the intelligent logistics modules are arranged is shown in fig. 16.
(4) Modeling the adjacency relation among the intelligent logistics modules:
encoding the intelligent logistics modules according to a certain sequence, determining the adjacent relation among the intelligent logistics modules according to the encoding, wherein the adjacent relation among the intelligent logistics modules passes through a first-order adjacent matrixAnd the orientation matrix D ═ Dij]K×KTo provide basic data for material distribution path planning of a logistics system. Wherein i and j represent the number of the intelligent logistics modules, K is the number of the intelligent logistics modules in the system,represents the shortest distance from the intelligent logistics module i to the intelligent logistics module j. dijIndicating the azimuth angle from intelligent logistics module i to intelligent logistics module j.
The values of (A) are as follows:
l is the length of side of intelligent logistics module in the formula.
dijThe values of (A) are as follows:
with the system shown in fig. 9, the first order adjacency matrix and the orientation matrix are:
logistics conveying path planning problem of logistics system
No matter the materials are conveyed, sorted or combined, the material conveying device corresponds to the starting point and the end point of various materials. The only difference is that the starting or ending point characteristics of each material are different. For example, in an application that implements material sorting, all materials start at the same point but end at different points. In the application of realizing material confluence, the starting points of the materials are different, but the end points of the materials are the same. Therefore, the function can be realized by only planning the reachable path from the starting point to the end point for all materials. Therefore, the logistics transportation path planning problem can be expressed as that the layout of each intelligent logistics module, the starting point and the end point of each material and the transportation flow rate (transportation amount in unit time) of each material of the known logistics system require to determine the optimal transportation path of each material.
Planning of material conveying path
Aiming at the problem of logistics conveying path planning of a logistics system, the invention provides a heuristic planning method based on traffic flow, which plans an optimal conveying path for each material in turn according to the sequence of flow from large to small, not only comprehensively considers the balance of transportation time and each intelligent logistics module load in the planning process, but also can avoid the opposite conflict between a newly planned path and a planned path and avoid the deadlock of the system. The overall method is shown in fig. 18, and the specific steps are as follows.
Step S1: and (3) collecting the system state, and immediately turning to the step2 once the following two events are collected, and starting a system material conveying path planning process.
Event 1. there is a new material delivery requirement: the new material is carried the demand flow and is higher, in order to guarantee the whole efficiency of material system, need plan again the material transport route.
Event 2, some intelligent logistics modules fail: in order to ensure the robustness of the system, a material conveying path needs to be re-planned in case of failure of part of the intelligent logistics modules, which may cause failure of some material distribution paths.
Step S2: preprocessing of material transport data
The starting point and the end point of all material distribution and the material distribution flow rate (the number of times of delivery in unit hour) are determined. Determining the planning sequence of each material distribution path, wherein the determining method can be based on the magnitude sequence of each material distribution flow, or based on other preset rules (such as material value, weight, etc.), and after determining the sequence, generating a material distribution path planning sequence table, so as to plan the distribution path for each material, and then turning to step S3.
Step S3: and continuing to plan the distribution path for the next material according to the planning sequence table, and turning to the step S4 after the distribution path is planned for each material.
The path planning steps are as follows:
s3.1, pretreatment of a logistics system.
And coding the intelligent logistics modules according to a certain sequence, and determining the adjacent relation of the intelligent logistics modules according to the material conveying direction which can be realized by the intelligent logistics modules and whether the intelligent logistics modules are in fault. The adjacent relation between the intelligent logistics modules is through a first-order adjacent matrixAnd the orientation matrix D ═ Dij]K×KTo describe. Wherein i and j represent the number of the intelligent logistics modules, K is the number of the intelligent logistics modules in the system,represents the transit time from the intelligent logistics module i to the intelligent logistics module j. dijIndicating the azimuth angle from intelligent logistics module i to intelligent logistics module j.
Assuming that each intelligent logistics module can transfer materials to 8 directions as shown in fig. 7, the intelligent logistics module can transfer materials to the 8 directionsThe values of (A) are as follows:
wherein T is the average material conveying time of adjacent intelligent logistics modules.
dijThe values of (A) are as follows:
taking the layout and state of each intelligent logistics module of a certain logistics system as shown in fig. 7 as an example, the first-order adjacency matrix and the orientation matrix are respectively:
after completion, go to S3.2.
And S3.2, processing the information of the planned path library of the material.
The conveying flow of each material intelligent logistics module is counted according to the planned material path library to form an existing flow matrix of the material intelligent logistics modules,wherein, f (i) is the existing material distribution flow of the ith intelligent logistics module, NwThe total number of intelligent logistics modules in the system.
The planned material paths are stored in the material planned path library, and the number of materials of all the planned paths is assumed to be NP(ii) a The k-th material distribution path is defined as: the number of the intelligent logistics module, through which the material passes from the starting point to the end point, can be expressed asWherein the content of the first and second substances,the serial number of the mth intelligent logistics module in the kth material distribution path. N is a radical ofkCounting the existing material conveying load of each intelligent logistics module for the total number of the intelligent logistics modules in the kth material distribution path according to the following steps, and determining a material intelligent logistics module flow matrix F ═ F (i)]1×KAnd flow information is provided for planning a material conveying path by subsequently applying a Dijkstra algorithm.
Wherein g (k) is the material dispensing flow rate of the kth material.
In order to avoid the conflict between the subsequently planned material distribution path and the planned material path (as shown in fig. 19, also called deadlock), the first-order adjacency matrix needs to be updated according to the allowed conveying direction of each material intelligent logistics module updated by the material planned path library. The updating steps are as follows:
after completion, go to S3.3.
And S3.3, planning a balanced anti-deadlock material distribution path.
According to the starting point and the end point of the current planning material, comprehensively considering the adjacency matrix processed by the information of the planned path library of the materialAnd the material intelligent logistics module has a flow matrix F ═ F (i)]1×KAnd planning an optimal path from the material starting point s to the end point d by adopting an improved Dijkstra algorithm. The classic Dijkstra algorithm is a greedy algorithm and can obtain the shortest path and the shortest path between a source point and a destination point. The basic idea is to set a set V of two intelligent logistics modulesSAnd VD=V/VSV is the set of all intelligent logistics modules, the set VSThe intelligent logistics module which is stored with the searched material starting point as a certain intelligent logistics module and the optimal path, and the set VDThe intelligent logistics module with the minimum cost of the starting point, including the conveying time and the flow information of all the intelligent logistics modules along the way) is searched for. At the beginning of VSOnly the starting point s, then from VDThe intelligent logistics module with the minimum cost of s, such as k, is selected and added into VSIn, set VSIn each time a new intelligent logistics module is added, the source points s to V are updatedDThe cost of all intelligent logistics modules. Until the target intelligent logistics module d is added with VSThe method comprises the following specific steps:
first step of initializing VS{ s } and VDI ∈ V and i ≠ s and the optimal path matrix P ═ Psi]1×NAnd the sum cost matrix H ═ Hi]1×NWherein p issiThe optimal path from the starting point s to the intelligent logistics module i is represented, and the optimal path is not searchedOnly p at initializationss(s), the rest arehiExpressing the cost of the intelligent logistics module i, and the calculation method is as follows:
second step search VDThe intelligent logistics module with the minimum cost is not set as the intelligent logistics module k, and the minimum cost isThe intelligent logistics module k is driven from VDMove into VSIn, i.e. VS=VS∪{k},VD=VD/{ k }, and sets psk={s,k},And (6) turning to the third step.
Third step, updating VDThe cost, the optimal path and the first-order adjacency matrix of each intelligent logistics module are updated as follows for VDIs n. Its new cost hnComprises the following steps:
optimal path psnAlso according to tnAnd synchronously updating, wherein the updating method comprises the following steps:
and turning to the fourth step.
The fourth step is to judge newly added VSAnd if the intelligent logistics module k in the step (2) is the target intelligent logistics module, searching the optimal path if the k is d, and turning to the fifth step, otherwise, turning to the second step.
The fifth step is outputting the optimal path psdAnd updating the materials to a material planned path library, deleting the materials from the material distribution path planning sequence table, and turning to the step 4.
Step S4: checking whether the material distribution path planning sequence list is empty, if not, turning to the step S3, continuing to plan the distribution path for the next material, and if so, turning to the step S1.

Claims (10)

1. A material distribution path planning method of a modularized intelligent logistics system based on an omnidirectional wheel is characterized in that the method comprises the following steps:
s1, collecting the system state, and immediately turning to the step2 once the following two events are collected, starting the planning process of the system material conveying path:
event 1. there is a new material delivery requirement: the new material conveying requirement flow is high, and in order to ensure the overall efficiency of a material system, a material conveying path needs to be re-planned;
event 2, some intelligent logistics modules fail: some intelligent logistics modules are failed, so that some material distribution paths are invalid, and in order to ensure the robustness of the system, the material conveying paths need to be re-planned;
s2, preprocessing of material conveying data:
determining the starting point, the end point and the material distribution flow of all material distribution, determining the planning sequence of each material distribution path, generating a material distribution path planning sequence table after determining the sequence, planning the distribution path for each material according to the sequence, and turning to the step S3 after finishing the operation;
s3, continuing to plan a distribution path for the next material according to the planning sequence table, and turning to the step S4 after a distribution path is planned for each material;
the steps of planning the distribution path are as follows:
s3.1, preprocessing of a logistics system:
coding each intelligent logistics module to obtain a first-order adjacency matrix thereof;
s3.2, processing the information of the planned path library of the material;
counting the conveying flow of each material intelligent logistics module according to the planned path library of the materials, updating the allowed conveying direction of each material intelligent logistics module, and updating the adjacency matrix;
s3.3, planning a balanced anti-deadlock material distribution path;
planning a delivery path for the material by adopting an improved Dijkstra algorithm;
s4, checking whether the material distribution path planning sequence list is empty, if not, turning to the step S3, continuing to plan the distribution path for the next material, if so, turning to the step S1.
2. The method for planning material distribution paths of an omnidirectional wheel-based modular intelligent logistics system as recited in claim 1, wherein the step S2 is performed by determining a sequence of planning material distribution paths, comprising:
according to the magnitude sequence of the distribution flow of each material or according to the material value and the importance degree.
3. The omni-directional wheel-based modular intelligent logistics system material distribution path planning method of claim 1, wherein the step S3.1 is specifically:
coding each intelligent logistics module according to a certain sequence, determining the adjacent relation of the intelligent logistics modules according to the material conveying direction which can be realized by each intelligent logistics module and whether each intelligent logistics module is in fault, wherein the adjacent relation among the intelligent logistics modules is determined by a first-order adjacent matrixAnd the orientation matrix D ═ Dij]K×KWhere i and j each represent the number of intelligent logistics modules, K is the number of intelligent logistics modules in the system,represents the transit time from the intelligent logistics module i to the intelligent logistics module j. dijIndicating the azimuth angles of the intelligent logistics module i and the intelligent logistics module j;
assuming that each intelligent logistics module can convey materials to 8 directions, thenThe values of (A) are as follows:
in the formula, T is the average material conveying time of adjacent intelligent logistics modules;
dijthe values of (A) are as follows:
4. the omni-directional wheel-based modular intelligent logistics system material distribution path planning method of claim 1, wherein the step S3.2 is specifically:
counting the conveying flow of each intelligent material logistics module according to the planned path library of the materials to form an existing flow matrix of the intelligent material logistics modules, wherein F is (F (i)]1×KWherein, f (i) is the existing material distribution flow of the ith intelligent logistics module, and K is the total number of the intelligent logistics modules in the system;
the planned material paths are stored in the material planned path library, and the number of materials of all the planned paths is assumed to be NP(ii) a K-th material distribution pathThe diameter is defined as: the number of the intelligent logistics module, through which the material passes from the starting point to the end point, can be expressed asWherein the content of the first and second substances,
the serial number of the mth intelligent logistics module in the kth material distribution path,
Nkcounting the existing material conveying load of each intelligent logistics module for the total number of the intelligent logistics modules in the kth material distribution path according to the following steps, and determining a material intelligent logistics module flow matrix F ═ F (i)]1×KFlow information is provided for planning a material conveying path by applying Dijkstra algorithm subsequently;
and updating the allowed conveying direction of each material intelligent logistics module according to the planned material path library, and updating the first-order adjacency matrix to avoid the opposite conflict between the subsequently planned material distribution path and the planned material path.
5. An omnidirectional wheel based modular intelligent logistics system material distribution path planning method as defined in claim 1, wherein the modified Dijkstra algorithm in step S3.3 comprises the following specific steps:
s3.3.1, initializing, inputting a starting intelligent logistics module and a target intelligent logistics module of a material path to be planned, setting an intelligent logistics module set V on the assumption that the starting intelligent logistics module is s and the target intelligent logistics module is dS(s) and a set of intelligent logistics modules VDI ∈ V and i ≠ s and the optimal path matrix P ═ Psi]1×KAnd the sum cost matrix H ═ Hi]1×KWherein V isSFor the set of intelligent logistics modules, V, for which an optimal path to the starting intelligent logistics module s has been searchedDFor the set of intelligent logistics modules which have not searched the optimal path with the initial intelligent logistics module s, V is the set of all intelligent logistics modules in the system, and P is all intelligent logistics modules andinitial intelligent inter-logistics module s optimal path matrix, psiThe optimal path from the intelligent logistics module s to the intelligent logistics module i is started, and the optimal path is not searchedOnly p at initializationss(s), the rest areH is the cost matrix of all intelligent logistics modules, HiFor the cost of the intelligent logistics module i, the calculation method is as follows:
s3.3.2, search VDThe intelligent logistics module with the minimum cost is not set as the intelligent logistics module k, and the minimum cost isThe intelligent logistics module k is driven from VDMove into VSIn, i.e. VS=VS∪{k},VD=VD/{ k }, and sets psk={s,k},Ensuring that the paths are all unidirectional, turn S3.3.3;
s3.3.3, update VDThe cost, the optimal path and the first-order adjacency matrix of each intelligent logistics module are updated as follows for VDN, its new cost hnComprises the following steps:
optimal path psnAlso according to tnAnd synchronously updating, wherein the updating method comprises the following steps:
turning to S3.3.4;
s3.3.4, judging newly added VSIf the intelligent logistics module k in the network is the target intelligent logistics module, if k is d, the optimal path is searched, and the operation is switched to S3.3.5, otherwise, the operation is switched to S3.3.2;
s3.3.5, outputting the optimal path psdAnd updating the materials to a material planned path library, and deleting the materials from the material distribution path planning sequence table.
6. The omni-directional wheel-based modular intelligent logistics system material distribution path planning method of claim 1, wherein each intelligent logistics module comprises:
fixed frame, fixed frame is last to be opened there are a plurality of holes, is equipped with an all-round speed reduction drive wheel in every hole, and the partial wheel body of all-round speed reduction drive wheel stretches out fixed frame's upper surface sets up, and the frictional force through a plurality of all-round speed reduction drive wheel upper wheel body acts on the material jointly, realizes following purpose to the material through the cooperative control to a plurality of drive wheel rotation rates and direction:
firstly, driving the material to rotate to adjust the posture;
secondly, independently and directionally conveying the materials to a plurality of directions according to the requirement;
thirdly, relay transmission of the intelligent logistics modules is achieved through planning of material distribution paths;
the Internet of things data acquisition device is arranged on the intelligent logistics module and is used for judging whether materials and material types exist above the intelligent logistics module;
when no material exists above the intelligent logistics modules, each intelligent logistics module enters a low power consumption mode;
when there is the material above the intelligence commodity circulation module, according to the material kind to each required direction conveying material.
7. An omnidirectional-wheel-based modular intelligent logistics system material distribution path planning method as recited in claim 6, wherein the fixed frame comprises:
a base plate;
the panel, through the bracing piece with the bottom plate supports and is connected, and it has a plurality of holes to open on the panel, and some of a plurality of all-round speed reduction drive wheels are all passed through the hole passes the panel to contact with the material.
8. The omni-directional wheel-based modular intelligent logistics system material distribution path planning method of claim 6, wherein the internet of things data acquisition device is one or more of an RFID card reader, a proximity switch, a two-dimensional code/bar code card reader and a camera.
9. An omnidirectional-wheel-based modular intelligent logistics system material distribution path planning method as recited in claim 6, wherein the number of omnidirectional deceleration driving wheels on a single intelligent logistics module is 4, and the 4 omnidirectional deceleration driving wheels are symmetrically arranged around the center of the panel.
10. An omni-directional wheel based modular intelligent logistics system material distribution path planning method as claimed in claim 6, wherein the omni-directional deceleration driving wheel comprises:
the motor, the mounting plate and the omnibearing speed reduction driving wheel;
the motor is connected with the input end of the omnibearing speed reduction driving wheel and drives the omnibearing speed reduction driving wheel to rotate;
the mounting panel adopts but not limited to L type mounting panel, L type mounting panel one end with bottom plate fixed connection, the other end and the first casing fixed connection of all-round speed reduction drive wheel.
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